\section{Requirements and Architecture}
\label{sec:RequirementsArchitecture}


\subsection{Requirements}
This project is mainly a design project. As a consequence, hard, quantitative requirements were not set at the beginning of the project. The most important step is the design space exploration. However, there is one requirement for the end-product. \\
\\
The main requirement for this project is to make a fast and smooth vision in the loop controller that is able to track orange objects\footnote{At the time that the project started, the European (soccer) Championship was about to start, and the disgrace of the Dutch team that turned out later wasn't exactly expected on before hand.}.

\subsection{System Architecture}
In this design project, the system architecture has been given:
\begin{itemize}
\item DE0-nano, development board, with Altera cyclone IV FPGA
\item Gumstix Overo Fire, embedded board, with Arm Cortex A8 processor
\item Motor, motor amplifiers (PWM controlled H-bridge), angle sensors (encoder)
\item Webcam Logitec C250\citep{WEBCAMSPECS}
\item JIWY setup. 
\end{itemize}


